Simulating obstruction in a virtual environment

ABSTRACT

A hand-wearable haptic interface device for simulating interaction with a virtual object in a Virtual Reality (VR) or Augmented Reality (AR) environment is provided. The hand-wearable haptic interface device can provide improved simulation of an obstruction caused by a virtual object in a virtual or augmented reality environment. The device comprises a joint-movement restrictor adapted to be positioned adjacent a finger joint when the device is worn on a hand of a user. The movement restrictor is adapted to provide different magnitudes of flexion resistance force for resisting flexion of the finger joint based on a flexion resistance control signal.

CROSS REFERENCE TO RELATED APPLICATIONS

The present patent document is a continuation of U.S. patent applicationSer. No. 15/403,625, filed Jan. 11, 2017, entitled “SIMULATINGOBSTRUCTION IN A VIRTUAL ENVIRONMENT”, the disclosure of which isincorporated herein by reference.

FIELD OF THE INVENTION

The present invention relates generally to simulating interaction with avirtual object in a virtual reality environment. More particularly, thepresent invention relates to a haptic interface device for simulating anobstruction caused by a virtual object in a virtual or augmented realityenvironment.

BACKGROUND

The perceived reality of a Virtual Reality (VR) environment is enhancedby the ability of a user to manipulate virtual objects within thevirtual environment using hand motions and gestures. For example, aperson may use a virtual tool (e.g., a hand-held controller) tomanipulate and/or modify a computerized model or virtual object (e.g., asports ball) in the virtual environment. One way the person may evaluateand manipulate the virtual object is by touching and feeling the surfaceof the object by using a virtual tool which the person controls througha haptic (sense of touch) interface device, such as a joystick, stylus,or other physical device. Recent developments in VR systems havetherefore focused on the use and improvement of haptic interface devicesfor simulating interaction with a virtual object in VR environments.

SUMMARY

A hand-wearable haptic interface device for simulating interaction witha virtual object in a Virtual Reality (VR) or Augmented Reality (AR)environment is provided. The hand-wearable haptic interface device canprovide improved simulation of an obstruction caused by a virtual objectin a virtual or augmented reality environment. The device comprises ajoint-movement restrictor adapted to be positioned adjacent a fingerjoint when the device is worn on a hand of a user. The movementrestrictor is adapted to provide different magnitudes of flexionresistance force for resisting flexion of the finger joint based on aflexion resistance control signal.

According to an aspect of the present invention there is provided ahand-wearable haptic interface device. The device comprises ajoint-movement restrictor adapted to be positioned adjacent a fingerjoint when the device is worn on a hand of a user. The movementrestrictor is adapted to provide different magnitudes of flexionresistance force for resisting flexion of the finger joint based on aflexion resistance control signal. Also, the joint-movement restrictorcomprises a meta-material having a malleability which is adapted to varybased on an electric signal supplied to the meta-material, where thesupplied electric signal is based on the flexion resistance controlsignal.

According to yet another aspect, there is provided a system forsimulating interaction with a virtual object in a virtual or augmentedreality environment. The system comprises a processor arrangement and ahand-wearable haptic interface device comprising a joint-movementrestrictor adapted to be positioned adjacent a finger joint when thedevice is worn on a hand of a user. The movement restrictor is adaptedto provide different magnitudes of flexion resistance force forresisting flexion of the finger joint based on a flexion resistancecontrol signal. Also, the joint-movement restrictor comprises ameta-material having a malleability which is adapted to vary based on anelectric signal supplied to the meta-material, where the suppliedelectric signal is based on the flexion resistance control signal. Theprocessor arrangement is configured to generate the flexion resistancecontrol signal.

According to another aspect of the present invention there is provided ahand-wearable haptic interface device. The device comprises ajoint-movement restrictor adapted to be positioned adjacent a fingerjoint when the device is worn on a hand of a user. The movementrestrictor is adapted to provide different magnitudes of flexionresistance force for resisting flexion of the finger joint based on aflexion resistance control signal. Also, the joint-movement restrictorcomprises an arrangement of electro-magnets adapted to have a repellingforce between the electro-magnets which can vary based on an electricsignal supplied to the electro-magnets, where the supplied electricsignal is based on the flexion resistance control signal.

According to yet another aspect, there is provided a system forsimulating interaction with a virtual object in a virtual or augmentedreality environment. The system comprises a processor arrangement and ahand-wearable haptic interface device comprising a joint-movementrestrictor adapted to be positioned adjacent a finger joint when thedevice is worn on a hand of a user. The movement restrictor is adaptedto provide different magnitudes of flexion resistance force forresisting flexion of the finger joint based on a flexion resistancecontrol signal. Also, the joint-movement restrictor comprises anarrangement of electro-magnets adapted to have a repelling force betweenthe electro-magnets which can vary based on an electric signal suppliedto the electro-magnets, where the supplied electric signal is based onthe flexion resistance control signal. The processor arrangement isconfigured to generate the flexion resistance control signal.

According to still another aspect, there is provided a method forsimulating interaction with a virtual object in a virtual or augmentedreality environment. The method comprises calculating a resistance thata hand of a user would encounter when interacting with a real-worldobject corresponding to the virtual object. The method further comprisessensing flexion of a finger joint on the hand of the user and generatinga flexion feedback signal indicating the sensed flexion of the fingerjoint. Further, the method comprises calculating a flexion resistanceforce based on the calculated real-world resistance and the sensedflexion in response to the flexion feedback signal and generating aflexion resistance control signal indicating the calculated flexionresistance force. Additionally, the method comprises applying, through ahand-wearable haptic interface device, the flexion resistance force tothe finger joint to restrict flexion of the finger joint.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features of this invention will be more readilyunderstood from the following detailed description of the variousaspects of the invention taken in conjunction with the accompanyingdrawings in which:

FIG. 1 shows an architecture in which the invention may be implementedaccording to illustrative embodiments;

FIG. 2 depicts a pictorial representation of a hand-wearable hapticinterface device according to an embodiment;

FIG. 3 depicts a pictorial representation of a hand-wearable hapticinterface device according to another embodiment; and

FIG. 4 shows a process flowchart for simulating an obstruction caused bya virtual object in a virtual or augmented reality environment accordingto illustrative embodiments.

The drawings are not necessarily to scale. The drawings are merelyrepresentations, not intended to portray specific parameters of theinvention. The drawings are intended to depict only typical embodimentsof the invention, and therefore should not be considered as limiting inscope. In the drawings, like numbering represents like elements.

DETAILED DESCRIPTION

Illustrative embodiments will now be described more fully herein withreference to the accompanying drawings, in which illustrativeembodiments are shown. It will be appreciated that this disclosure maybe embodied in many different forms and should not be construed aslimited to the illustrative embodiments set forth herein. Rather, theseembodiments are provided so that this disclosure will be thorough andcomplete and will fully convey the scope of this disclosure to thoseskilled in the art.

Furthermore, the terminology used herein is for the purpose ofdescribing particular embodiments only and is not intended to belimiting of this disclosure. As used herein, the singular forms “a”,“an”, and “the” are intended to include the plural forms as well, unlessthe context clearly indicates otherwise. Furthermore, the use of theterms “a”, “an”, etc., do not denote a limitation of quantity, butrather denote the presence of at least one of the referenced items.Furthermore, similar elements in different figures may be assignedsimilar element numbers. It will be further understood that the terms“comprises” and/or “comprising”, or “includes” and/or “including”, whenused in this specification, specify the presence of stated features,regions, integers, steps, operations, elements, and/or components, butdo not preclude the presence or addition of one or more other features,regions, integers, steps, operations, elements, components, and/orgroups thereof.

Unless specifically stated otherwise, it may be appreciated that termssuch as “processing,” “detecting,” “determining,” “evaluating,”“receiving,” or the like, refer to the action and/or processes of acomputer or computing system, or similar electronic data center device,that manipulates and/or transforms data represented as physicalquantities (e.g., electronic) within the computing system's registersand/or memories into other data similarly represented as physicalquantities within the computing system's memories, registers or othersuch information storage, transmission or viewing devices. Theembodiments are not limited in this context.

As stated above, embodiments described herein provide for ahand-wearable haptic interface device for simulating interaction with avirtual object in a Virtual Reality (VR) or Augmented Reality (AR)environment. The hand-wearable haptic interface device can provideimproved simulation of an obstruction caused by a virtual object in avirtual or augmented reality environment. The device comprises ajoint-movement restrictor adapted to be positioned adjacent a fingerjoint when the device is worn on a hand of a user. The movementrestrictor is adapted to provide different magnitudes of flexionresistance force for resisting flexion of the finger joint based on aflexion resistance control signal.

Accordingly, embodiments of the present invention may be utilized in awide range of VR or AR systems and/or applications, includingentertainment, design, engineering, and medical fields/applications. Thefollowing description provides a context for the description of elementsand functionality of embodiments and of how elements of the embodimentsmay be implemented.

Described herein are devices for providing different levels ormagnitudes of flexion resistance force for resisting flexion (e.g.,bending movement) of finger joints of a user's hand. By resistingflexion of finger joints of a user's hand, devices described herein cansimulate the presence of an object in the user's hand by mimicking theobject's resistance to being moved, squeezed, or compressed, forexample.

Embodiments of the present invention can therefore provide an interfacedevice which is capable of simulating the resistance felt when holding asolid object. By way of example, by calculating the resistance that theuser's hands would encounter when interacting with a ‘solid’ object in avirtual space and relaying this information to an interface deviceaccording to an embodiment, the interface device can be adapted toprovide a flexion resistance force (for resisting flexion of fingerjoints of the user) which restricts finger movement in such a way as tomimic what would occur in real life. For instance, in simulating thepresence of a cup in the user's hand, an embodiment may resist fingerjoint flexion in such a way as to stop the user from closing his/herhand (e.g., bending his/her fingers inwards towards the palm), therebyreplicating the cup's resistance to being crushed.

Thus, it may be appreciated that embodiments of the present inventioncan provide for a device that offers the resistance that a user expectsto experience by interacting with an object by hand and simulates suchresistance by resisting flexion of the user's finger joint(s).

Illustrative embodiments of the present invention therefore providesystems and methods for resisting flexion of a user's finger joint tosimulate an object or obstruction in a user's hand. Further, dynamic anduser-specific (e.g., personalized) obstruction simulation is provided byembodiments.

Unlike existing VR interfacing techniques that do not provide for arealistic feeling of interaction with an object in a VR environment(e.g., because a user may pass a hand through the virtual object withoutany impediment), embodiments of the present invention can provide aresistance to movement or flexion of finger joints which simulatesinteraction with a VR object in a realistic and convincing manner. Suchembodiments may, for example, be employed in VR gloves (e.g., gloves forinterfacing with VR technology to control the VR environment and/ordeliver haptic feedback to a user) so as to simulate a feeling ofholding a solid object. Further, the level of resistance to movement,bending, or flexion of finger joints provided by embodiments can bedesigned to closely replicate that which would be provided by a realobject, thereby enabling simulation of the object's physical properties(such as size, shape, hardness, softness, elasticity, rigidity,stiffness, flexibility, etc.).

Furthermore, modifications and additional approaches to traditionalhaptic feedback interface devices/systems may become apparent in view ofembodiments of the present invention, which may enhance the value andutility of embodiments of the present invention.

Accordingly, embodiments of the present invention are directed towardenabling simulation of an object's physical resistance to being moved ormanipulated (e.g., compressed, squashed, pressed, squeezed, etc.) byadapting a hand-wearable device to provide different magnitudes offlexion resistance force for resisting flexion of one or more fingerjoints of a wearer based on a flexion resistance control signal.Further, the embodiments can enable the shape and/or structure of anobject to be simulated by individually controlling the flexionresistance force provided to different fingers joints.

The inventors of the present invention have discovered thatmeta-materials (having a malleability which can be tuned depending on anelectrical signal supplied to it) may be employed to provide a flexionresistance force that can be dynamically controlled and/or variedaccording to requirements. For instance, by forming a finger sleeve of aglove from such a meta-material and then applying a particularelectrical signal to the meta-material, the finger sleeve's malleability(and thus resistance to bending or flexing) can be controlled and thusused to simulate the presence of an object.

Embodiments can thus employ known meta-materials that have amalleability which can vary based on an electrical signal supplied tothe meta-material. By way of example, such material has been presentedby Jörg Weissmüller and Hai-Jun Jin in an article entitled “A Materialwith Electrically Tunable Strength and Flow Stress” (Science, 3 Jun.2011, Vol. 332, Issue 6034, pp. 1179-1182). In particular, JörgWeissmüller and Hai-Jun Jin present a material (hereinafter the“Weissmüller-Jin material”) that has a hybrid nanostructure consistingof a strong metal backbone that is interpenetrated by an electrolyte asthe second component. By polarizing the internal interface via anapplied electric potential, a fast and repeatable tuning of yieldstrength, flow stress, and ductility is achieved. Thus, this allows auser to select, for instance, a soft and ductile state and ahigh-strength state, thereby facilitating the provision of differentmagnitudes of flexion resistance force based on applied control signal,for example.

The inventors of the present invention have further discovered that anarrangement of electromagnets can be employed to provide a flexionresistance force that may be dynamically controlled and/or variedaccording to requirements. For instance, a joint-movement restrictor canbe implemented using a set of electro-magnets arranged such that magnetsections/portions repel each other under the control of an appliedelectrical signal (e.g., which alters the arrangement and/or polarity ofthe magnets). Thus, by applying a particular electrical signal to theelectromagnets, the attraction or repulsion force (and thus resistanceto bending or flexing) can be controlled and thus used to simulate thepresence of an object.

Referring now to FIG. 1, a computerized implementation 10 of anembodiment for simulating an obstruction caused by a virtual object in avirtual or augmented reality environment will be shown and described.Computerized implementation 10 is only one example of a suitableimplementation and is not intended to suggest any limitation as to thescope of use or functionality of embodiments of the invention describedherein. Regardless, computerized implementation 10 is capable of beingimplemented and/or performing any of the functionality set forthhereinabove.

In computerized implementation 10, there is a computer system 12, whichis operational with numerous other general purpose or special purposecomputing system environments or configurations. Examples of well-knowncomputing systems, environments, and/or configurations that may besuitable for use with computer system 12 include, but are not limitedto, personal computer systems, server computer systems, thin clients,thick clients, hand-held or laptop devices, multiprocessor systems,microprocessor-based systems, set top boxes, programmable consumerelectronics, network PCs, minicomputer systems, mainframe computersystems, and distributed cloud computing environments that include anyof the above systems or devices, and the like.

This is intended to demonstrate, among other things, that the presentinvention could be implemented within a network environment (e.g., theInternet, a wide area network (WAN), a local area network (LAN), avirtual private network (VPN), etc.), a cloud computing environment, acellular network, or on a stand-alone computer system. Communicationthroughout the network can occur via any combination of various types ofcommunication links. For example, the communication links can compriseaddressable connections that may utilize any combination of wired and/orwireless transmission methods. Where communications occur via theInternet, connectivity could be provided by conventional TCP/IPsockets-based protocol, and an Internet service provider could be usedto establish connectivity to the Internet. Still yet, computer system 12is intended to demonstrate that some or all of the components ofimplementation 10 could be deployed, managed, serviced, etc., by aservice provider who offers to implement, deploy, and/or perform thefunctions of the present invention for others.

Computer system 12 is intended to represent any type of computer systemthat may be implemented in deploying/realizing the teachings recitedherein. Computer system 12 may be described in the general context ofcomputer system executable instructions, such as program modules, beingexecuted by a computer system. Generally, program modules may includeroutines, programs, objects, components, logic, data structures, and soon, that perform particular tasks or implement particular abstract datatypes. In this particular example, computer system 12 represents anillustrative system for simulating an obstruction caused by a virtualobject in a virtual or augmented reality environment. It should beunderstood that any other computers implemented under the presentinvention may have different components/software, but can performsimilar functions.

Computer system 12 in computerized implementation 10 is shown in theform of a general-purpose computing device. The components of computersystem 12 may include, but are not limited to, one or more processors orprocessing units 16, a system memory 28, and a bus 18 that couplesvarious system components including system memory 28 to processor 16.

Bus 18 represents one or more of any of several types of bus structures,including a memory bus or memory controller, a peripheral bus, anaccelerated graphics port, and a processor or local bus using any of avariety of bus architectures. By way of example, and not limitation,such architectures include Industry Standard Architecture (ISA) bus,Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, VideoElectronics Standards Association (VESA) local bus, and PeripheralComponent Interconnects (PCI) bus.

Processing unit 16 refers, generally, to any apparatus that performslogic operations, computational tasks, control functions, etc. Aprocessor may include one or more subsystems, components, and/or otherprocessors. A processor will typically include various logic componentsthat operate using a clock signal to latch data, advance logic states,synchronize computations and logic operations, and/or provide othertiming functions. During operation, processing unit 16 collects androutes signals representing inputs and outputs between external devices14 and input devices (not shown). The signals can be transmitted over aLAN and/or a WAN (e.g., T1, T3, 56 kb, X.25), broadband connections(ISDN, Frame Relay, ATM), wireless links (802.11, Bluetooth, etc.), andso on. In some embodiments, the signals may be encrypted using, forexample, trusted key-pair encryption. Different systems may transmitinformation using different communication pathways, such as Ethernet orwireless networks, direct serial or parallel connections, USB,Firewire®, Bluetooth®, or other proprietary interfaces. (Firewire is aregistered trademark of Apple Computer, Inc. Bluetooth is a registeredtrademark of Bluetooth Special Interest Group (SIG)).

In general, processing unit 16 executes computer program code, such asprogram code for simulating an obstruction caused by a virtual object ina virtual or augmented reality environment, which is stored in memory28, storage system 34, and/or program/utility 40. While executingcomputer program code, processing unit 16 can read and/or write datato/from memory 28, storage system 34, and program/utility 40.

Computer system 12 typically includes a variety of computer systemreadable media. Such media may be any available media that is accessibleby computer system 12, and it includes both volatile and non-volatilemedia, removable and non-removable media.

System memory 28 can include computer system readable media in the formof volatile memory, such as random access memory (RAM) 30 and/or cachememory 32. Computer system/server 12 may further include otherremovable/non-removable, volatile/non-volatile computer system storagemedia, (e.g., VCRs, DVRs, RAID arrays, USB hard drives, optical diskrecorders, flash storage devices, and/or any other data processing andstorage elements for storing and/or processing data). By way of exampleonly, storage system 34 can be provided for reading from and writing toa non-removable, non-volatile magnetic media (not shown and typicallycalled a “hard drive”). Although not shown, a magnetic disk drive forreading from and writing to a removable, non-volatile magnetic disk(e.g., a “floppy disk”), and an optical disk drive for reading from orwriting to a removable, non-volatile optical disk such as a CD-ROM,DVD-ROM, or other optical media can be provided. In such instances, eachcan be connected to bus 18 by one or more data media interfaces. As willbe further depicted and described below, memory 28 may include at leastone program product having a set (e.g., at least one) of program modulesthat are configured to carry out the functions of embodiments of theinvention.

Program code embodied on a computer readable medium may be transmittedusing any appropriate medium including, but not limited to, wireless,wireline, optical fiber cable, radio-frequency (RF), etc., or anysuitable combination of the foregoing.

Program/utility 40, having a set (at least one) of program modules 42,may be stored in memory 28 by way of example, and not limitation. Memory28 may also have an operating system, one or more application programs,other program modules, and program data. Each of the operating system,one or more application programs, other program modules, and programdata or some combination thereof, may include an implementation of anetworking environment. Program modules 42 generally carry out thefunctions and/or methodologies of embodiments of the invention asdescribed herein.

Computer system/server 12 may also communicate with one or more externaldevices 14 such as a keyboard, a pointing device, a display 24, etc.;one or more devices that enable a consumer to interact with computersystem/server 12; and/or any devices (e.g., network card, modem, etc.)that enable computer system/server 12 to communicate with one or moreother computing devices. Such communication can occur via I/O interfaces22. Still yet, computer system/server 12 can communicate with one ormore networks such as a local area network (LAN), a general wide areanetwork (WAN), and/or a public network (e.g., the Internet) via networkadapter 20. As depicted, network adapter 20 communicates with the othercomponents of computer system/server 12 via bus 18. It should beunderstood that although not shown, other hardware and/or softwarecomponents could be used in conjunction with computer system/server 12.Examples include, but are not limited to: microcode, device drivers,redundant processing units, external disk drive arrays, RAID systems,tape drives, and data archival storage systems, etc.

Some embodiments of the present invention can comprise processing unit16 adapted to receive a flexion control signal from a control system andto generate the flexion resistance control signal based on the receivedcontrol signal. In this way, embodiments can be adapted to be controlledby a VR or AR control system. Such a system can include a conventionalVR or AR system and the processing unit 16 may then be adapted tointerpret control signal(s) in order to generate flexion resistancecontrol signals for modifying the magnitude of flexion resistance forceprovided by the joint-movement restrictor(s). Embodiments may thereforebe employed with and controlled by a VR or AR system so as to provide amore realistic and/or convincing experience for a user.

Some embodiments, which will be discussed in further detail below withreference to FIG. 2 and FIG. 3, can include a joint flexion sensoradapted to determine an angle of flexion of the finger joint and togenerate a flexion feedback signal based on the determined angle offlexion of the finger joint. The processing unit 16 can then be adaptedto generate the flexion resistance control signal further based on theflexion feedback signal. In this way, flexion of the finger joint(s) maybe monitored in order to provide feedback information which can be used,for example, to alter the flexion resistance control signal for improved(e.g., corrected, user-specific, and/or more realistic) flexionresistance force(s).

Also, the flexion feedback control signal can be communicated back tothe control system. Information can therefore be fed back to the controlsystem, and such information may be useful, for example, for calibratingthe control signals and/or joint-movement restrictors so as to providemore accurate and/or improved object simulation.

In some embodiments, which will be discussed in further detail belowwith reference to FIG. 2 and FIG. 3, a haptic feedback unit can also beincluded which is adapted to be positioned adjacent a finger pad or palmwhen the device is worn on the hand of the user. The haptic feedbackunit may apply different magnitudes of tactile force to the finger pador palm based on a tactile feedback control signal. Thus, in addition tosimulating an obstruction or resistance provided by an object, suchembodiments can also simulate a contact or touch of the object (e.g., byapplying a tactile force to the user's hand). Further improved realismor accuracy of simulation may thus be provided by such embodiments. Forthe purpose of controlling the haptic feedback unit, embodiments canemploy a processing unit (e.g., a microprocessor) which receives ahaptic feedback control signal from a control system and then generatesthe tactile feedback control signal based on the received hapticfeedback control signal. In this way, such embodiments can be adapted tobe controlled by a VR control system (including, for example, aconventional VR or AR system) and the processing unit 16 can then beadapted to interpret control signal(s) in order to generate tactilefeedback control signals for modifying the magnitude of tactile forceprovided by the joint-movement restrictor(s).

Embodiments can further be provided, which will be discussed in furtherdetail below with reference to FIG. 3, in the form of a glove or otherhand-wearable structure. For example, a glove or mitten can be providedwith components integrated therein or supported thereon. Alternatively,a support framework can be provided which is adapted to be supported onor by a user's hand and/or forearm.

Embodiments may further enhance object simulation realism in a VR or ARsystem by replicating an object's resistance or obstruction to movementand/or manipulation. Such replication of resistance or obstruction tomovement and/or manipulation can be provided by arranging one or morejoint-movement restrictors to be positioned adjacent or proximate auser's finger joint(s) in use. By varying the magnitude of flexionresistance force provided by the joint-movement restrictor(s) inaccordance with a control signal, realistic simulation of manipulatingan object by hand can be provided, which may extend or improve thecapabilities, usefulness, or efficiency of a VR or AR systems.

Turning now to FIG. 2, an exemplary implementation of a hand-wearablehaptic interface device according to an embodiment will be described.

Here, the device 210 comprises a plurality of joint-movement restrictors214 each adapted to be positioned adjacent a respective finger joint ofa user when the device 210 is worn on a hand of the user. Morespecifically, in the depicted embodiment, each joint-movement restrictor214 comprises a tubular sleeve that is adapted to encircle a respectivefinger joint. In some embodiments, it may therefore be preferable toadapt the size of each tubular sleeve to be substantially equal orslightly larger (in circumference and length/width) than the respectivefinger joint it is adapted to receive.

Each of the movement restrictors 214 is adapted to provide varyingmagnitudes or levels of flexion resistance force for resisting flexionof the respective finger joint based on a flexion resistance controlsignal. In particular, in this example, each joint-movement restrictor214 can be formed from a meta-material having a malleability which isadapted to vary based on an electric signal supplied to themeta-material. By way of example only, the meta-material can be the sameor similar to the meta-material presented by Jörg Weissmüller andHai-Jun Jin in an article entitled “A Material with Electrically TunableStrength and Flow Stress” (Science, 3 Jun. 2011, Vol. 332, Issue 6034,pp. 1179-1182).

Further, the electric signal supplied to each joint-movement restrictorcan be based on the flexion resistance control signal. In more detail,the device 210 of FIG. 2 can include a processing unit 216 (e.g.,processing unit 16 of FIG. 1) adapted to receive a flexion controlsignal from a control system 212 (e.g., computer system 12 of FIG. 1)via a wired or wireless communication link. By way of example, wirelessconnection(s) can comprise a short-to-medium-range communication link.

In this description of embodiments of the present invention,short-to-medium-range communication link should be understood to mean ashort-range or medium-range communication link having a range of up toaround 100 meters. In short-range communication links designed for veryshort communication distances, signals typically travel from a fewcentimeters to several meters, whereas, in medium-range communicationlinks designed for short-to-medium range communication distances,signals typically travel up to 100 meters. Examples of short-rangewireless communication links include, but are not limited to: ANT+,Bluetooth, Bluetooth low energy, IEEE 802.15.4, ISA100a, Infrared(IrDA), ISM Band, Near Field Communication (NFC), RFID, 6LoWPAN, UWB,Wireless HART, Wireless HD, Wireless USB, ZigBee. (Ant+ is a registeredtrademark of Garmin Switzerland GmbH; Bluetooth is a registeredtrademark of Bluetooth SIG, Inc.; IEEE is a registered trademark of TheInstitute of Electrical and Electronics Engineers, Inc; IrDA is aregistered trademark of Infrared Data Association; ZigBee is aregistered trademark of The ZigBee Alliance.) Examples of medium-rangecommunication links include, but are not limited to: Wi-Fi, Z-Wave.(Z-Wave is a registered trademark of Sigma Designs, Corp.) A wired linkcan, for example, comprise an electrically conductive cable upon whichan electrical signal can be communicated using a suitable communicationprotocol.

Based on the received control signal, the processing unit 216 cangenerate a flexion resistance control signal (i.e., the electric signalsupplied to each joint-movement restrictor) for each of thejoint-movement restrictors 214. The flexion resistance control signalscan then be communicated to the joint-movement restrictors via wiredelectrical connections 218 (e.g., bus 18 of FIG. 1). It will, however,be appreciated that the flexion resistance control signals can, in otherembodiments, be communicated to the joint-movement restrictors 214 viaone or more wireless connections.

In some embodiments of the present invention, as shown in FIG. 2, thedevice 210 can also include a plurality of haptic feedback units 220.Each haptic feedback unit 220 can be adapted to be positioned adjacent(e.g., close to or touching) a respective finger pad or palm portion ofthe user's hand when the device 210 is worn on the hand of the user.Each haptic feedback unit 220 can apply different magnitudes or levelsof tactile force to the respective finger pad or palm portion based on atactile feedback control signal. For example, a haptic feedback unit 220can be adapted to vibrate, move, or expand/contract so as to exert atactile force on a respective portion of the user's hand or fingers. Themagnitude of the tactile force can thus communicate a stimulus to therespective part(s) of the user's hand in a manner which simulates touchof (or contact with) a simulated object.

In the example shown in FIG. 2, the processing unit 216 can receive ahaptic feedback control signal from the control system 212. Based on thereceived control signal, the processing unit 216 can generate thetactile feedback control signal(s) for each of the haptic feedback units220. The tactile feedback control signals can then be communicated tothe haptic feedback units 220 via wired or wireless connections. Basedon the tactile feedback control signals, the haptic feedback units 220can apply different magnitudes of tactile force to the finger pads orpalm portion. Thus, in addition to simulating an obstruction orresistance provided by an object, the embodiment of FIG. 2 can alsosimulate a contact or touch of the object (e.g., by applying a tactileforce to the user's hand).

Referring now to FIG. 3, another embodiment of a hand-wearable hapticinterface device will be described. In particular, the embodimentdepicted in FIG. 3 is provided in the form of a glove device 310 withcomponents integrated therein or supported thereon.

Here, the device 310 comprises a plurality of joint-movement restrictors214 (shown in FIG. 2) each adapted to be positioned adjacent arespective finger joint of a user when the device 310 is worn on a handof the user. More specifically, in the depicted embodiment, eachjoint-movement restrictor 214 comprises an elongated rod 314 that isadapted to extend (e.g., span) across a respective finger joint. In someembodiments, it may therefore be preferable to adapt the longitudinallength of each rod 314 to be greater than 1 cm, but less than or equalto the length of the respective finger it is adapted to be positionedadjacent to.

Each of the movement restrictors 214 and/or the elongated rods 314 isadapted to provide varying magnitudes or levels of flexion resistanceforce for resisting flexion of the respective finger joint based on aflexion resistance control signal. In particular, in this example, eachjoint-movement restrictor 214 and/or elongated rod 314 can be formedfrom a meta-material having a malleability which is adapted to varybased on an electric signal supplied to the meta-material.

The electric signal supplied to each joint-movement restrictor can bebased on the flexion resistance control signal. In more detail, thedevice 310 of FIG. 3 can include a processing unit 316 adapted toreceive a flexion control signal from a control system (e.g., controlsystem 212 of FIG. 2) via a wired or wireless communication link. Basedon the received control signal, the processing unit 316 can generate aflexion resistance control signal for each of the joint-movementrestrictors 214 and/or elongated rods 314. The flexion resistancecontrol signals can then be communicated to the joint-movementrestrictors 214 and/or elongated rods 314 via wired electricalconnections (not shown). It will, however, be appreciated that theflexion resistance control signals can, in other embodiments, becommunicated to the joint-movement restrictors 214 (FIG. 2) via one ormore wireless connections.

In some embodiments of the present invention, as shown in FIG. 3, thedevice 310 can also comprise a joint flexion sensor 324 adapted todetermine an angle of flexion of the finger joint(s) and to generate aflexion feedback signal based on the determined angle of flexion of thefinger joint(s). The processing unit 316 of FIG. 3 can therefore befurther adapted to generate the flexion resistance control signal(discussed above with reference to FIG. 2) further based on the flexionfeedback signal generated by the joint flexion sensor 324. In this way,flexion of the finger joint(s) can be monitored in order to providefeedback information which may be used, for example, to alter theflexion resistance control signal for improved (e.g., corrected,user-specific, and/or more realistic) flexion resistance force(s).

Also, the flexion feedback control signal can be communicated back tothe control system, such as control system 212 of FIG. 2, using, forexample, a communication interface 322 associated with the processingunit 316. Information can therefore be fed back to the control system,and such information may be useful, for example, for calibrating thecontrol signals and/or joint-movement restrictors 214 (FIG. 2) so as toprovide more accurate and/or improved object simulation.

Although the embodiments described above have been detailed as employingcomponents that can be formed of a meta-material having a malleabilitywhich can be varied based on an electric signal supplied to themeta-material, it is to be understood that other arrangements may beemployed so as to provide a flexion resistance force that can bedynamically controlled and/or varied according to requirements. Forinstance, in some embodiments, a joint-movement restrictor can beimplemented using a set of electro-magnets which are arranged such thatmagnet sections/portions repel each other under the control of anapplied electrical signal (e.g., which alters the arrangement and/orpolarity of the magnets). In such embodiments, by applying a particularelectrical signal to the electromagnets, the attraction or repulsionforce (and thus resistance to bending or flexing) can be controlled andthus used to simulate the presence of an object.

As depicted in FIG. 4, in one embodiment, a system (e.g., computersystem 12) carries out the methodologies disclosed herein. Shown is aprocess flowchart 400 for simulating an obstruction caused by a virtualobject in a virtual or augmented reality environment. At 402, aresistance that a hand of a user would encounter when interacting with areal-world object corresponding to the virtual object is calculated. At404, flexion of a finger joint on the hand of the user is sensed. At406, a flexion feedback signal is generated indicating the sensedflexion of the finger joint. At 408, a flexion resistance force based onthe calculated real-world resistance and the sensed flexion iscalculated in response to the flexion feedback signal. At 410, a flexionresistance control signal is generated indicating the calculated flexionresistance force. At 412, the flexion resistance force is applied to thefinger joint to restrict flexion of the finger joint through thehand-wearable haptic interface device (e.g., device 210 of FIG. 2 orglove device 310 of FIG. 3).

Process flowchart 400 of FIG. 4 illustrates the architecture,functionality, and operation of possible implementations of systems,methods, and computer program products according to various embodimentsof the present invention. In this regard, each block in the flowchart orblock diagrams may represent a module, segment, or portion ofinstructions, which comprises one or more executable instructions forimplementing the specified logical function(s). In some alternativeimplementations, the functions noted in the blocks may occur out of theorder noted in the Figures. For example, two blocks shown in successionmay, in fact, be executed substantially concurrently, or the blocks maysometimes be executed in the reverse order, depending upon thefunctionality involved. It will also be noted that each block of theblock diagrams and/or flowchart illustration, and combinations of blocksin the block diagrams and/or flowchart illustration, can be implementedby special purpose hardware-based systems that perform the specifiedfunctions or acts or carry out combinations of special purpose hardwareand computer instructions.

Some of the functional components described in this specification havebeen labeled as systems or units in order to more particularly emphasizetheir implementation independence. For example, a system or unit may beimplemented as a hardware circuit comprising custom VLSI circuits orgate arrays, off-the-shelf semiconductors such as logic chips,transistors, or other discrete components. A system or unit may also beimplemented in programmable hardware devices such as field programmablegate arrays, programmable array logic, programmable logic devices, orthe like. A system or unit may also be implemented in software forexecution by various types of processors. A system or unit or componentof executable code may, for instance, comprise one or more physical orlogical blocks of computer instructions, which may, for instance, beorganized as an object, procedure, or function. Nevertheless, theexecutables of an identified system or unit need not be physicallylocated together, but may comprise disparate instructions stored indifferent locations which, when joined logically together, comprise thesystem or unit and achieve the stated purpose for the system or unit.

Further, a system or unit of executable code could be a singleinstruction, or many instructions, and may even be distributed overseveral different code segments, among different programs, and acrossseveral memory devices. Similarly, operational data may be identifiedand illustrated herein within modules, and may be embodied in anysuitable form and organized within any suitable type of data structure.The operational data may be collected as a single data set, or may bedistributed over different locations including over different storagedevices and disparate memory devices.

Furthermore, systems/units may also be implemented as a combination ofsoftware and one or more hardware devices. For instance, program/utility40 may be embodied in the combination of a software executable codestored on a memory medium (e.g., memory storage device). In a furtherexample, a system or unit may be the combination of a processor thatoperates on a set of operational data.

As noted above, some of the embodiments may be embodied in hardware. Thehardware may be referenced as a hardware element. In general, a hardwareelement may refer to any hardware structures arranged to perform certainoperations. In one embodiment, for example, the hardware elements mayinclude any analog or digital electrical or electronic elementsfabricated on a substrate. The fabrication may be performed usingsilicon-based integrated circuit (IC) techniques, such as complementarymetal oxide semiconductor (CMOS), bipolar, and bipolar CMOS (BiCMOS)techniques, for example. Examples of hardware elements may includeprocessors, microprocessors, circuits, circuit elements (e.g.,transistors, resistors, capacitors, inductors, and so forth), integratedcircuits, application specific integrated circuits (ASIC), programmablelogic devices (PLD), digital signal processors (DSP), field programmablegate array (FPGA), logic gates, registers, semiconductor devices, chips,microchips, chip sets, and so forth. However, the embodiments are notlimited in this context.

Any of the components provided herein can be deployed, managed,serviced, etc., by a service provider that offers to deploy or integratecomputing infrastructure with respect to a process for simulating anobstruction caused by a virtual object in a virtual or augmented realityenvironment. Thus, embodiments herein disclose a process for supportingcomputer infrastructure, comprising integrating, hosting, maintaining,and deploying computer-readable code into a computing system (e.g.,computer system 12), wherein the code in combination with the computingsystem is capable of performing the functions described herein.

In another embodiment, the invention provides a method that performs theprocess steps of the invention on a subscription, advertising, and/orfee basis. That is, a service provider, such as a Solution Integrator,can offer to create, maintain, support, etc., a process for simulatingan obstruction caused by a virtual object in a virtual or augmentedreality environment. In this case, the service provider can create,maintain, support, etc., a computer infrastructure that performs theprocess steps of the invention for one or more customers. In return, theservice provider can receive payment from the customer(s) under asubscription and/or fee agreement, and/or the service provider canreceive payment from the sale of advertising content to one or morethird parties.

Also noted above, some embodiments may be embodied in software. Thesoftware may be referenced as a software element. In general, a softwareelement may refer to any software structures arranged to perform certainoperations. In one embodiment, for example, the software elements mayinclude program instructions and/or data adapted for execution by ahardware element, such as a processor. Program instructions may includean organized list of commands comprising words, values, or symbolsarranged in a predetermined syntax that, when executed, may cause aprocessor to perform a corresponding set of operations.

The present invention may be a system, a method, and/or a computerprogram product at any possible technical detail level of integration.The computer program product may include a computer readable storagemedium (or media) having computer readable program instructions thereonfor causing a processor to carry out aspects of the present invention.

The computer readable storage medium can be a tangible device that canretain and store instructions for use by an instruction executiondevice. The computer readable storage medium may be, for example, but isnot limited to, an electronic storage device, a magnetic storage device,an optical storage device, an electromagnetic storage device, asemiconductor storage device, or any suitable combination of theforegoing. A non-exhaustive list of more specific examples of thecomputer readable storage medium includes the following: a portablecomputer diskette, a hard disk, a random access memory (RAM), aread-only memory (ROM), an erasable programmable read-only memory (EPROMor Flash memory), a static random access memory (SRAM), a portablecompact disc read-only memory (CD-ROM), a digital versatile disk (DVD),a memory stick, a floppy disk, a mechanically encoded device such aspunch-cards or raised structures in a groove having instructionsrecorded thereon, and any suitable combination of the foregoing. Acomputer readable storage medium, as used herein, is not to be construedas being transitory signals per se, such as radio waves or other freelypropagating electromagnetic waves, electromagnetic waves propagatingthrough a waveguide or other transmission media (e.g., light pulsespassing through a fiber-optic cable), or electrical signals transmittedthrough a wire.

Computer readable program instructions described herein can bedownloaded to respective computing/processing devices from a computerreadable storage medium or to an external computer or external storagedevice via a network, for example, the Internet, a local area network, awide area network and/or a wireless network. The network may comprisecopper transmission cables, optical transmission fibers, wirelesstransmission, routers, firewalls, switches, gateway computers and/oredge servers. A network adapter card or network interface in eachcomputing/processing device receives computer readable programinstructions from the network and forwards the computer readable programinstructions for storage in a computer readable storage medium withinthe respective computing/processing device.

Computer readable program instructions for carrying out operations ofthe present invention may be assembler instructions,instruction-set-architecture (ISA) instructions, machine instructions,machine dependent instructions, microcode, firmware instructions,state-setting data, configuration data for integrated circuitry, oreither source code or object code written in any combination of one ormore programming languages, including an object oriented programminglanguage such as Smalltalk, C++, or the like, and procedural programminglanguages, such as the “C” programming language or similar programminglanguages. The computer readable program instructions may executeentirely on the user's computer, partly on the user's computer, as astand-alone software package, partly on the user's computer and partlyon a remote computer or entirely on the remote computer or server. Inthe latter scenario, the remote computer may be connected to the user'scomputer through any type of network, including a local area network(LAN) or a wide area network (WAN), or the connection may be made to anexternal computer (for example, through the Internet using an InternetService Provider). In some embodiments, electronic circuitry including,for example, programmable logic circuitry, field-programmable gatearrays (FPGA), or programmable logic arrays (PLA) may execute thecomputer readable program instructions by utilizing state information ofthe computer readable program instructions to personalize the electroniccircuitry, in order to perform aspects of the present invention.

Aspects of the present invention are described herein with reference toflowchart illustrations and/or block diagrams of methods, apparatus(systems), and computer program products according to embodiments of theinvention. It will be understood that each block of the flowchartillustrations and/or block diagrams, and combinations of blocks in theflowchart illustrations and/or block diagrams, can be implemented bycomputer readable program instructions.

These computer readable program instructions may be provided to aprocessor of a general purpose computer, special purpose computer, orother programmable data processing apparatus to produce a machine, suchthat the instructions, which execute via the processor of the computeror other programmable data processing apparatus, create means forimplementing the functions/acts specified in the flowchart and/or blockdiagram block or blocks. These computer readable program instructionsmay also be stored in a computer readable storage medium that can directa computer, a programmable data processing apparatus, and/or otherdevices to function in a particular manner, such that the computerreadable storage medium having instructions stored therein comprises anarticle of manufacture including instructions which implement aspects ofthe function/act specified in the flowchart and/or block diagram blockor blocks.

The computer readable program instructions may also be loaded onto acomputer, other programmable data processing apparatus, or other deviceto cause a series of operational steps to be performed on the computer,other programmable apparatus or other device to produce a computerimplemented process, such that the instructions which execute on thecomputer, other programmable apparatus, or other device implement thefunctions/acts specified in the flowchart and/or block diagram block orblocks.

The flowchart and block diagrams in the Figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods, and computer program products according to variousembodiments of the present invention. In this regard, each block in theflowchart or block diagrams may represent a module, segment, or portionof instructions, which comprises one or more executable instructions forimplementing the specified logical function(s). In some alternativeimplementations, the functions noted in the blocks may occur out of theorder noted in the Figures. For example, two blocks shown in successionmay, in fact, be executed substantially concurrently, or the blocks maysometimes be executed in the reverse order, depending upon thefunctionality involved. It will also be noted that each block of theblock diagrams and/or flowchart illustration, and combinations of blocksin the block diagrams and/or flowchart illustration, can be implementedby special purpose hardware-based systems that perform the specifiedfunctions or acts or carry out combinations of special purpose hardwareand computer instructions.

It is apparent that there has been provided herein approaches tosimulate an obstruction caused by a virtual object in a virtual oraugmented reality environment. The descriptions of the variousembodiments of the present invention have been presented for purposes ofillustration, but are not intended to be exhaustive or limited to theembodiments disclosed. Many modifications and variations will beapparent to those of ordinary skill in the art without departing fromthe scope and spirit of the described embodiments. The terminology usedherein was chosen to best explain the principles of the embodiments, thepractical application or technical improvement over technologies foundin the marketplace, or to enable others of ordinary skill in the art tounderstand the embodiments disclosed herein. Therefore, it is to beunderstood that the appended claims are intended to cover all suchmodifications and changes that fall within the true spirit of theinvention.

What is claimed is:
 1. A hand-wearable haptic interface devicecomprising: a joint-movement restrictor adapted to be positionedadjacent a finger joint when the device is worn on a hand of a user,wherein the movement restrictor is adapted to provide differentmagnitudes of flexion resistance force for resisting flexion of thefinger joint based on a flexion resistance control signal; and a jointflexion sensor adapted to determine an angle of flexion of the fingerjoint and to generate a flexion feedback signal based on the determinedangle of flexion of the finger joint, wherein the flexion resistancecontrol signal simulates an object's resistance or obstruction tomovement or manipulation and wherein the flexion resistance controlsignal is based on the flexion feedback signal.
 2. The device of claim1, wherein the joint-movement restrictor comprises a meta-materialhaving a malleability which is adapted to vary based on an electricsignal supplied to the meta-material, the supplied electric signal beingbased on the flexion resistance control signal.
 3. The device of claim2, wherein the joint-movement restrictor comprises a tubular sleeveformed from the meta-material and is adapted to receive the finger-jointtherein when the device is worn on the hand of the user.
 4. The deviceof claim 1, wherein the joint-movement restrictor comprises one or morerods of meta-material adapted to span across the finger joint when thedevice is worn on the hand of the user.
 5. The device of claim 1,wherein the joint-movement restrictor comprises an arrangement ofelectro-magnets having a repelling force between the electro-magnetswhich can vary based on an electric signal supplied to theelectro-magnets, the supplied electric signal being based on the flexionresistance control signal.
 6. The device of claim 1, further comprisinga processing unit adapted to receive a flexion control signal from acontrol system and to generate the flexion resistance control signalbased on the received control signal and on the flexion feedback signal.7. The device of claim 6, wherein the processing unit is adapted tocommunicate the flexion feedback control signal to the control system.8. The device of claim 1, further comprising a haptic feedback unitadapted to be positioned adjacent a finger pad or palm when the deviceis worn on the hand of the user, wherein the haptic feedback unit isadapted to apply different magnitudes of tactile force to the finger pador palm based on a tactile feedback control signal.
 9. The device ofclaim 8, further comprising a processing unit adapted to receive ahaptic feedback control signal from a control system and to generate thetactile feedback control signal based on the received haptic feedbackcontrol signal.
 10. The device of claim 1, wherein the device comprisesa glove.
 11. A system for simulating interaction with a virtual objectin a virtual or augmented reality environment, the system comprising:the hand-wearable haptic interface device of claim 1; and a controlsystem configured to generate the flexion resistance control signal andto communicate the flexion resistance control signal to thehand-wearable haptic interface device.
 12. A computer system forsimulating interaction with a virtual object in a virtual or augmentedreality environment, the computer system comprising: a non-transitorymemory medium comprising program instructions; a bus coupled to thenon-transitory memory medium; and a processor, for executing the programinstructions, coupled to the bus that when executing the programinstructions causes the system to: calculate a resistance that a hand ofa user would encounter when interacting with a real-world objectcorresponding to the virtual object; sense an angle of flexion of afinger joint on the hand of the user and generating a flexion feedbacksignal indicating the sensed angle of flexion of the finger joint;calculate a flexion resistance force based on the calculated real-worldresistance and the sensed angle of flexion in response to the flexionfeedback signal and generate a flexion resistance control signalindicating the calculated flexion resistance force; and apply, through ahand-wearable haptic interface device, the flexion resistance force tothe finger joint to restrict flexion of the finger joint.
 13. Thecomputer system of claim 12, the instructions further causing the systemto: calculate a magnitude of tactile force that the hand of the userwould encounter when interacting with the real-world objectcorresponding to the virtual object; generate a tactile feedback controlsignal based on the calculated magnitude of tactile force; and apply,through the hand-wearable haptic interface device, the magnitude oftactile force to a finger pad or palm of the hand in response to thetactile feedback control signal.
 14. A computer program product forsimulating interaction with a virtual object in a virtual or augmentedreality environment, the computer program product comprising anon-transitory computer readable hardware storage device, and programinstructions stored on the non-transitory computer readable hardwarestorage device, to: calculate a resistance that a hand of a user wouldencounter when interacting with a real-world object corresponding to thevirtual object; sense an angle of flexion of a finger joint on the handof the user and generating a flexion feedback signal indicating thesensed angle of flexion of the finger joint; calculate a flexionresistance force based on the calculated real-world resistance and thesensed angle of flexion in response to the flexion feedback signal andgenerate a flexion resistance control signal indicating the calculatedflexion resistance force; and apply, through a hand-wearable hapticinterface device, the flexion resistance force to the finger joint torestrict flexion of the finger joint.
 15. The computer program productof claim 14, the non-transitory computer readable storage device furthercomprising instructions to: calculate a magnitude of tactile force thatthe hand of the user would encounter when interacting with thereal-world object corresponding to the virtual object; generate atactile feedback control signal based on the calculated magnitude oftactile force; and apply, through the hand-wearable haptic interfacedevice, the magnitude of tactile force to a finger pad or palm of thehand in response to the tactile feedback control signal.